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VW PQ: Update Motor_2 signals (#2711)

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* VW PQ: Update Motor_2 Signal definitons in DBC

This PR aims to update the Motor_2 signal definitions to include missing definitions

* Update Motor_2 message definitons for updated VW PQ DBC definitons

* VW PQ: VW PQ: Update Motor_2 Signal definitons in safety to match DBC

update Motor_2 signal definitions to match corrected Motor_2 definitions in DBC
This commit is contained in:
T3vl
2025-09-02 13:04:51 -05:00
committed by GitHub
parent 032b765b1d
commit 8f6758b3fe
3 changed files with 72 additions and 32 deletions
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6
opendbc/car/volkswagen/carstate.py
View File

@@ -161,7 +161,7 @@ class CarState(CarStateBase):
# Update gas, brakes, and gearshift.
ret.gasPressed = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] > 0
ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
# Update gear and/or clutch position data.
@@ -207,11 +207,11 @@ class CarState(CarStateBase):
# Update ACC radar status.
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] in (1, 2)
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
ret.accFaulted = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero.

94
opendbc/dbc/vw_pq.dbc
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@@ -375,25 +375,29 @@ BO_ 896 Motor_3: 8 XXX
SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX
SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX
BO_ 648 Motor_2: 8 XXX
SG_ Minimales_Motormoment_bei_Zuend : 56|8@1+ (0.39,0) [0|99] "MDI" XXX
SG_ Begrenzungsmoment : 48|8@1+ (0.39,0) [0|99] "MDI" XXX
SG_ Leerlaufsolldrehzahl__Motor_2_ : 40|8@1+ (10,0) [0|2540] "U/min" XXX
SG_ Soll_Geschwindigkeit_bei_GRA_Be : 32|8@1+ (1.28,0) [0|325] "km/h" XXX
SG_ Fahrzeuggeschwindigkeit : 24|8@1+ (1.28,0) [0|325] "km/h" XXX
SG_ GRA_Status : 22|2@1+ (1,0) [0|0] "" XXX
SG_ OBD_2_freeze_frame : 21|1@1+ (1,0) [0|0] "" XXX
SG_ Status_Normalbetrieb : 20|1@1+ (1,0) [0|0] "" XXX
SG_ Ansteuerung_Klima__4_1_ : 19|1@1+ (1,0) [0|0] "" XXX
SG_ Fehlerstatus_Kuhlmitteltempera : 18|1@1+ (1,0) [0|0] "" XXX
SG_ Bremstestschalter : 17|1@1+ (1,0) [0|0] "" XXX
SG_ Bremslichtschalter : 16|1@1+ (1,0) [0|0] "" XXX
SG_ Kuehlmitteltemperatur__Motor_2_ : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
SG_ Multiplex_Code_Motor_2 M : 6|2@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Info_Motorcode__4_x_ m1 : 0|6@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Info_Getriebecode m2 : 0|6@1+ (1,0) [0|0] "" XXX
SG_ Multiplex_Info_Max_Moment__Norm m3 : 0|6@1+ (10,0) [0|630] "Nm" XXX
SG_ Multiplex_Info_CAN_Stand m0 : 0|6@1+ (1,0) [0|0] "" XXX
BO_ 648 Motor_2: 8 Motor
SG_ MO2_Mp_Code m : 6|2@1+ (1,0) [0|3] "" Gateway
SG_ MO2_Getr_Code m2 : 0|6@1+ (1,0) [0|63] "" Gateway
SG_ MO2_max_Mo m3 : 0|6@1+ (10,0) [0|630] "Nm" Gateway
SG_ MO2_CAN_Vers m0 : 0|6@1+ (1,0) [0|63] "" Gateway
SG_ MO2_Motor_Code m1 : 0|6@1+ (1,0) [0|63] "" Gateway
SG_ MO2_Kuehlm_T : 8|8@1+ (0.75,-48) [-47.25|142.5] "°C" Gateway
SG_ MO2_BLS : 16|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_BTS : 17|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Sta_Kuehlm : 18|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Sta_Klima : 19|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Sta_No_Bet : 20|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Status_TSK : 21|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Sta_GRA : 22|2@1+ (1,0) [0|3] "" ACC,GRA
SG_ TSK_Limiter_ausgewaehlt : 25|1@1+ (1,0) [0|1] "" ACC,GRA
SG_ MO2_GRAregelt : 26|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_Sport_Error : 27|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_OffRoad : 28|1@1+ (1,0) [0|1] "" Gateway
SG_ MO2_RME_Gehalt : 29|3@1+ (12.5,0) [0|75] "%" Gateway
SG_ MO2_GRA_Soll : 32|8@1+ (1.28,0) [0|325.12] "km/h" ACC,GRA
SG_ MO2_LL_Solldz : 40|8@1+ (10,0) [0|2540] "1/min" Gateway
SG_ MO2_Begr_Mo : 48|8@1+ (0.39,0) [0|99.06] "%" Gateway
SG_ MO2_Mo_ZWR : 56|8@1+ (0.39,0) [0|99.06] "%" Gateway
BO_ 640 Motor_1: 8 XXX
SG_ Fahrerwunschmoment : 56|8@1+ (0.39,0) [0|99] "MDI" XXX
@@ -1572,14 +1576,29 @@ CM_ SG_ 640 inneres_Motor_Moment_ohne_exter "Inner torque without external";
CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB";
CM_ SG_ 644 MOB_COUNTER "Counter MOB";
CM_ SG_ 648 Minimales_Motormoment_bei_Zuend "Minimum Torque Adjustment";
CM_ SG_ 648 Begrenzungsmoment "Maximum Inner Torque";
CM_ SG_ 648 Bremstestschalter "Brake Test Switch";
CM_ SG_ 648 Soll_Geschwindigkeit_bei_GRA_Be "Desired Vehicle Speed";
CM_ SG_ 648 Bremslichtschalter "Brake Light Switch";
CM_ SG_ 648 Leerlaufsolldrehzahl__Motor_2_ "Target Idle Speed";
CM_ SG_ 648 Fahrzeuggeschwindigkeit "Vehicle Speed";
CM_ SG_ 648 Kuehlmitteltemperatur__Motor_2_ "Coolant Temperature";
CM_ BO_ 648 "Motor message 2 - Contains engine status, temperatures, and torque information";
CM_ SG_ 648 MO2_Mp_Code "Multiplex code - switches after 4 transmissions";
CM_ SG_ 648 MO2_Getr_Code "Transmission code (multiplex value when Mp_Code=2)";
CM_ SG_ 648 MO2_max_Mo "Maximum torque MDI (multiplex value when Mp_Code=3)";
CM_ SG_ 648 MO2_CAN_Vers "CAN version (multiplex value when Mp_Code=0)";
CM_ SG_ 648 MO2_Motor_Code "Motor code (multiplex value when Mp_Code=1)";
CM_ SG_ 648 MO2_Kuehlm_T "Engine coolant temperature or substitute value";
CM_ SG_ 648 MO2_BLS "Brake light switch - unfiltered raw signal";
CM_ SG_ 648 MO2_BTS "Brake test switch";
CM_ SG_ 648 MO2_Sta_Kuehlm "Coolant temperature status - 0=OK, 1=Not OK";
CM_ SG_ 648 MO2_Sta_Klima "Air conditioning compressor status";
CM_ SG_ 648 MO2_Sta_No_Bet "Normal operation status (Terminal 15 on, init complete)";
CM_ SG_ 648 MO2_Status_TSK "Drive train coordinator status";
CM_ SG_ 648 MO2_Sta_GRA "GRA/ACC status";
CM_ SG_ 648 TSK_Limiter_ausgewaehlt "Speed limiter selected";
CM_ SG_ 648 MO2_GRAregelt "GRA regulating to displayed speed";
CM_ SG_ 648 MO2_Sport_Error "Sport mode error (Porsche Cayenne)";
CM_ SG_ 648 MO2_OffRoad "OffRoad mode active";
CM_ SG_ 648 MO2_RME_Gehalt "Rapeseed oil methyl ester content (diesel)";
CM_ SG_ 648 MO2_GRA_Soll "GRA target speed setpoint";
CM_ SG_ 648 MO2_LL_Solldz "Idle target speed";
CM_ SG_ 648 MO2_Begr_Mo "Limiting torque - max possible at speed";
CM_ SG_ 648 MO2_Mo_ZWR "Minimum engine torque with ignition angle retardation";
CM_ SG_ 896 Drosselklappenpoti "Throttle Position";
CM_ SG_ 896 Motor_Wunschdrehzahl "Desired engine speed";
@@ -1697,6 +1716,27 @@ VAL_ 416 BR1_ESPASR_passive 0 "ESP_ASR_activated" 1 "ESP_oder_ASR_passive_get_od
VAL_ 416 BR1_Sta_ESP 0 "ok" 1 "Failure";
VAL_ 416 BR1_Ersatz_Kmh 0 "OK" 1 "Substitute_value";
SG_MUL_VAL_ 648 MO2_Getr_Code MO2_Mp_Code 2-2;
SG_MUL_VAL_ 648 MO2_max_Mo MO2_Mp_Code 3-3;
SG_MUL_VAL_ 648 MO2_CAN_Vers MO2_Mp_Code 0-0;
SG_MUL_VAL_ 648 MO2_Motor_Code MO2_Mp_Code 1-1;
VAL_ 648 MO2_Mp_Code 0 "CAN_Stand" 1 "Motor_Kod" 2 "Getriebe_Kod" 3 "MDI_Max";
VAL_ 648 MO2_Getr_Code 0 "_5HP19" 1 "_5HP24" 2 "AG4" 3 "VL300" 4 "VQ250" 5 "VQ35" 6 "AG4_yestco" 7 "AG5_yestco" 8 "autom_Kupplung" 9 "autom_Kupplung_mit_ASG" 10 "AG6_yestco_ZF_6HP_AISIN" 11 "DQ500_DQ250_DQ200" 12 "SQ100_SQ200" 14 "AL1000_AL551_AL951_ZF8HPx" 15 "Handschalter_konv" 16 "DL800" 17 "E_Fahrzeug__Single_Gear";
VAL_ 648 MO2_BLS 0 "no_Bremsen" 1 "Bremse_betaetigt";
VAL_ 648 MO2_BTS 0 "no_braking" 1 "Brake_activated";
VAL_ 648 MO2_Sta_Kuehlm 0 "Temperature_ok" 1 "Temperature_not_ok";
VAL_ 648 MO2_Sta_Klima 0 "Climate_off" 1 "Climate_on";
VAL_ 648 MO2_Sta_No_Bet 0 "no_Normalbetrieb" 1 "Normalbetrieb";
VAL_ 648 MO2_Status_TSK 0 "TSK_not_available" 1 "TSK_available";
VAL_ 648 MO2_Sta_GRA 0 "ADR_GRA_off" 1 "gra_activated_lamp_on" 2 "gra_overdriven_lamp_on" 3 "ADR_gra_faulted";
VAL_ 648 TSK_Limiter_ausgewaehlt 0 "no_limiter_selected" 1 "Limiter_Selected";
VAL_ 648 MO2_GRAregelt 0 "no" 1 "yes";
VAL_ 648 MO2_Sport_Error 0 "no_Failure" 1 "Failure";
VAL_ 648 MO2_OffRoad 0 "not_active" 1 "active";
VAL_ 870 AWV_Text 0 "kein_Text" 1 "FrontAssist_aus" 2 "FrontAssist_startet" 3 "FrontAssist_Warnung" 4 "FrontAssist_Sens_reinig" 5 "FrontAssist_Failure" 6 "FrontAssist_Demo" 7 "Vorhalt" 8 "Bremsung_wird_gerade_durchgefuehrt" 9 "Sensor_not_verfuegbar" 10 "Sensor_reinigen" 11 "Service_notwendig_Failure" 12 "Funktion_vom_Fahrer_deactivated" 13 "Funktion_vom_Fahrer_activated" 14 "FrontAssist_zur_Zeit_not_verfuegbar__rev_Failure";
VAL_ 870 AWV_1_Freigabe 0 "nicht_freigegeben" 1 "freigegeben";
VAL_ 870 AWV_1_Prefill 0 "keine_Prefill_Anf" 1 "Prefill_Anf";

4
opendbc/safety/tests/test_volkswagen_pq.py
View File

@@ -69,8 +69,8 @@ class TestVolkswagenPqSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueS
# ACC engagement and brake light switch status
# Called indirectly for compatibility with common.py tests
def _motor_2_msg(self, brake_pressed=False, cruise_engaged=False):
values = {"Bremslichtschalter": brake_pressed,
"GRA_Status": cruise_engaged}
values = {"MO2_BLS": brake_pressed,
"MO2_Sta_GRA": cruise_engaged}
return self.packer.make_can_msg_panda("Motor_2", 0, values)
# ACC main switch status